Audio and or video recording of the police
From what I found, I believe that MN is a single party state.
Check out the Photography is Not a Crime website. You will learn that the US Supreme Court has ruled that public employees (that includes police and fire as well as politicians) have no expectation of privacy in the performance of their duties. You have every legal right to record them whether they like it or not.
They CAN ask you to move further away from a scene if you are interfering with the performance of their jobs or creating a safety issue.
They CAN ask for your video or audio recording. But, you do NOT need to provide it (with some exceptions). In general, they need a warrant to seize your property.
Many photographers have been arrested and charged with disorderly conduct or disturbing the peace by standing their grounds on this issue.
The Photography is Not a Crime website references instances of Minneapolis police violating users constitutionally guaranteed rights.
In short....You CAN. And, you may be harrassed and jailed for doing so.